import sys
import math


def func(r1, x1, y1, x3, y3):
    d2 = (x1-x3)**2 + (y1-y3)**2
    D = r1 + math.sqrt(d2)
    if x1 == x3:
        if y1 > y3:
            return x1, (y1+r1-D/2), D/2
        else:
            return x1, (y1-r1+D/2), D/2
    k = (y1-y3)/(x1-x3)
    b = y3 - k*x3
    X1 = ((2*x1-2*k*(b-y1)) + math.sqrt((2*k*(b-y1)-2*x1)**2-4*(1+k**2)*(x1**2+(b-y1)**2-(D/2-r1)**2))) / (2*(1+k**2))
    X2 = ((2*x1-2*k*(b-y1)) - math.sqrt((2*k*(b-y1)-2*x1)**2-4*(1+k**2)*(x1**2+(b-y1)**2-(D/2-r1)**2))) / (2*(1+k**2))
    if x1 > x3:
        return X1, k*X1+b, D/2
    else:
        return X2, k*X2+b, D/2


if __name__ == '__main__':
    line = sys.stdin.readline().strip()
    r1, x1, y1, x3, y3 = list(map(float, line.split()))
    X, Y, r = func(r1, x1, y1, x3, y3)
    print(X, Y, r)
